Have a look at nanomsg.   This should abstract away some of the underlying 
complexity and let you switch between TCP, IPC and other transports.

Also look at serialization formats where the data can be consumed without 
unpacking it: flatbuffers / flexbuffers, capnproto

(These suggestions are on the assumption that you expect the overhead of 
message passing to be significant compared to the processing done on each 
message.  If that's not true, then you might as well just stick to gRPC)

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